Proc. of the Second Intl. Conf.

on Advances in Electronics and Electrical Engineering AEEE 2013

Copyright Institute of Research Engineers and Doctors. All rights reserved.
ISBN: 978-981-07-5939-1 doi:10.3850/ 978-981-07-5939-1_24

Adaptive Fuzzy Tuned PID and UPFC for

Reactive Power Compensation in Distributed
Generation System
1

Asit Mohanty , Soumya R. Mohanty , Nand Kishor , Prakash K. Ray

1

Research Scholar, MNNIT Allahabad, Asst Prof. MNNIT Allahabad, Associate

Professor.MNNITAllahabad,*AsstProfessorIIITBhubaneswar

known as Autonomous hybrid power systems [1]-[2].

Normally a Synchronous generator is used as Diesel
Generator and Induction Generator is used in Wind
Turbine. [3]-[5] for an improved performance. Induction
generators are often advantageous than synchronous
generators in a hybrid power system but it badly needs
reactive power for its operation. Though Synchronous
generator provides reactive power to the Induction
Generator, but there is always short fall of reactive power
in the system. Due to this big gap between demand and
supply of reactive power, serious problem like voltage
fluctuation occurs. This leads to voltage instability in the
hybrid power system.
Detailed literature survey from [6]-[16] shows the
need to improve and compensate the reactive-power and
manage the Stand Alone hybrid power system to balance
the voltage profile. Authors have mentioned number of
processes like the use of capacitor banks for
compensation of reactive power of the system [6]-[8].But
due to the uncertain nature of wind and wide variation of
load the fixed capacitors failed to deliver the required
reactive power to the system. [7]. Due to the above said
reasons the FACTS(Flexible AC Transmission System)
devices are widely used for the compensation of reactive
power now a days. Devices like SVC, STATCOM and
UPFC are quite popular in controlling and compensating
reactive power. [9]-[11].
SVC, STATCOM and UPFC [12][16] are important
members of FACTS family which are used to
compensate the reactive power of the power system.
These devices are used for voltage and angle stability
studies of power system. Reactive power management
inside the hybrid system is an important aspect of power
system and during the absence of reactive power; the
system goes through a wide voltage variations and
unnecessary fluctuations. devices as a reactive power
compensating devices with PI controllers. This work
proposes a fuzzified PI based controller for SVC,
STATCOM and UPFC Controllers for reactive power
control in a wind diesel hybrid system [17]-[21]. The
proposed controller tunes the gains of the PI Controller to

Abstract-Self tuned
Fuzzy
logic based
PID
controller is developed in this paper to regulate the
reactive power of a decentralized wind-diesel hybrid
power system under different disturbance conditions.
The study incorporating small signal analysis has
been taken. The linearized model of wind, diesel is
used where IEEE Excitation system (type-1) with
synchronous generator is taken into account. Due to
the abrupt load changes and sporadic nature of wind,
reactive power and voltage stability problem occur.
For the above problem, a Auto tuned Fuzzy Logic
PID (STFLPID) controller is designed, which
automatically tunes the coefficients of PID controller
(KP and Ki). From Simulation it shows that the
proposed controller attains the steady state value with
less settling time and overshoot for a wide and
unpredicted load changes and thereby proves its
superiority.
Keywords- Reactive power control, Self Tuned Fuzzy
Logic PID Controller, Hybrid power system, IG,
UPFC
I. INTRODUCTION
Looking into the increasing demand of electricity,
increase in fuel price, depletion of fossil fuels, increased
environmental pollution are the main reasons for which
power engineers and researchers are focusing on
alternating power generations and renewable. The main
reason behind the popularity of Renewable energy source
is primarily due to their pollution-free, abundant
characteristics along with the increased chance of
availability of power at remote locations. But the major
drawback is their highly variable/intermittent nature. To
improve the quality of the power supply of grids, the
renewable energy sources like wind, photovoltaic, small
hydro, fuel cell along with energy storage devices like
battery, flywheel, ultra-capacitors etc. are integrated to
form hybrid system. Diesel generators play a vital part in
the system which compensates the shortage of power to
meet the load demand. In many places the Renewable
sources act with the conventional sources and are widely

77

Proc. of the Second Intl. Conf. on Advances in Electronics and Electrical Engineering AEEE 2013
Copyright Institute of Research Engineers and Doctors. All rights reserved.
ISBN: 978-981-07-5939-1 doi:10.3850/ 978-981-07-5939-1_24

Due to abrupt change in reactive power load Q L , the

system voltage may change which results incremental
change in reactive power of other components. The net
reactive power is QSG + QSVC+QPV QL - QIG and
it will change the system voltage. The System Model
Equation is governed by the transfer function equation
given below [14]
PIG+PSG+PPV=PL
(2)
QSG + QCOM+QPV = QL + QIG
(3)
V(S)= KV/ (1+STV)[QSG(S)+QPV(S)+QCOM(S)QL(S)-QIG(S) (4)
Where TV= 2Hr/ DV V0 and KV= 1/DV
The synchronous generator equation is given by :
QSG= (E'qVcos V2) / Xd ( transient condition)
(5)
For small change the same equation is written as
QSG= V cos /X'd E'q+(E'qcos -2V)/X'd V
(6)
Taking the Laplace Equation we get the relation
QSG(s) = Ka1 E'q(s) + Kb1V(s)
(7)
Where Ka1 and Kb1 are
Ka1= Vcos /X'd
Kb1=(E'qcos -2V)/X'd
UPFC provides the reactive power required by the load
and the Induction Generator.
For a Round Rotor Synchronous Motor the Flux
Linkage Equation
d/dt (Eq )=(Efd -Eq)/T'do
(12)
Eq =(Xd/X'd)E'q-(Xd-X'd)/X'dVcos()
(13)
For Small Perturbation Laplace Transform is written as
(1+ sTG) E'q (s) = KeEfd (s) + Kf V(s)
(14)
Where TG=X'dT' do /Xd
Ke1=Xd/Xd
Kf1=(Xd-Xd)cos/Xd
The Reactive power need of the Induction
Generator is fulfilled by the UPFC .The demand of
Reactive Power changes with the change of wind speed.
SIMULINK model using reactive power compensator
UPFC is designed for the Hybrid System. For the SVC
compensator gain regulator KR scheme is used for control
mechanism [14]. In case of UPFC the small change in
reactive power [15] depends on Vm2p and angle which
are proportional to the voltage at the point of connection
of UPFC.

enhance the transient stability and reactive power

compensating capability of the system
This paper represents a MATLAB/SIMULINK model
briefing the Reactive Power Compensation of an Isolated
Wind-Diesel hybrid System with application of SVC for
2 % change in load disturbances. Section no II
completely describes the system and the detailed
mathematical modeling of it. The detailed work of self
tuned fuzzy logic for tuning the gains of PI controller is
mentioned in Section III. The model simulation output
results with description are represented in section IV. The
conclusion is clearly mentioned in Section V.
II.
SYSTEM
CONFIGURAION
AND
ITS
MATHEMATICAL MODELLING
This hybrid power system is made of Induction
generator (IG), Synchronous generator (SG), electrical
loads and Reactive power control in the form of SVC
supported by its control strategy. A general blockdiagram of the system is clearly shown in Fig.
1.Generally the Synchronous Generator and the Induction
generator supply the active power to the
system.Sychronous Generator and SVC also provide the
reactive power to the load and Induction generator. The
hybrid system parameters are given in Table3 in
Appendix gives the total parameters of the hybrid system.
Wind

IG

Reactive
power

ReactiveP
ower IG

UPFC
ReactivePo
wer UPFC

Reactive Power
Load

SG
Fuel

LOAD

ReactiveP
ower SG

Exciter
PV

ReactiveP
ower PV

Insolation

Fig. 1. Wind-diesel-pv hybrid Power system with UPFC

UPFC
Step Dist
Energy BalanceLoop

K
sT

KL
Gen FluxLinkage

1
0.75S+1

QV
QIG

Ke

Kb

QL

+
QSVC
QSG +

PI

1
1
T+1
S

Kj

Kk

QPV

Ka

Kd

Kc

Unified Power Flow Controller (UPFC) is for Reactive

power compensation like SVC and STATCOM whose
transient stability model is shown in Fig. 3. .It controls
the power flow in the transmission system by controlling
the impedance, voltage magnitude and phase angle. This
controller offers advantages in terms of static and
dynamic operation of the power system. The structure of

Exciter

Fig. 2. Transfer Function Model of Wind Diesel PV

Hybrid Power System with UPFC
The Reactive Power balanced Equation of the system
during steady state can be given by [13]
QSG +Qsvc+QPV = QL + QIG

(1)

78

Proc. of the Second Intl. Conf. on Advances in Electronics and Electrical Engineering AEEE 2013
Copyright Institute of Research Engineers and Doctors. All rights reserved.
ISBN: 978-981-07-5939-1 doi:10.3850/ 978-981-07-5939-1_24

the UPFC consists of two voltage source inverter (VSI),

where one Voltage source converter is connected in
parallel to the transmission line while the other is in
series with the transmission line.

Taking the partial derivative we get

The Structure of UPFC helps to control Reactive power

and Active Power by injecting AC Voltage in series with
amplitude and a phase angle to the Transmission Line.
The role of first Inverter is to provide or absorb real
power while the second Inverter produces and absorbs
reactive power and there by provides shunt
compensation. It has been assumed that the series and
shunt impedances of UPFC are pure reactances. Psh and
Qsh are with the shunt voltage sources while Pi, Qi, Pj
and Qj represent the series voltage sources. The injected
powers depend on the injected voltages and bus voltages
also. Buses i and j are taken as load buses in the load
flow analysis .They are taken with some modifications as
the injected powers are not constant. The injected powers
are given as follow:

dQ j

dPj
dt

dt

dPj d
dPj dVm2p
+
d dt dVm2p dt

(25)

dQ j d dQ j dVm2p
+
d dt dVm2p dt

(26)

QUPFC =K j (S) + Kk V(S)

PK + J Q K

VK K

IKK

P1 + J Q 1

I sh

V11

sh

Pse + j Q

se

Ps h + jQ s h

Rse +jXse

Rsh +jXsh
Ksh Vsh

K se Vse

Kse

ksh

UPFC CONTROLLER

VV
Psh = i sh sin(i -sh )
x sh

Qsh =

Pi =

Pj =

(19)
P1 r e f

V Vi Vsh
cos(i -sh )
x sh x sh

x ij

VJ Vpq
x ij

dc

V ref
k

V k
k

V 1
1

dc

Fig. 3 Transient Stability Model UPFC

2
i

-Vi Vpq

V
V ref
Q1ref
dc

sin(i -pq ) Qi =

sin( j -pq )

III. FUZZY LOGIC CONTROLLER (FLC)

(20)

Vi Vpq
x ij

Fuzzy logic is a knowledge based controller based

on self-organizing architecture which is having a lot of
applications in power system dynamics and control
applications [17]. A fuzzy system consists of fuzzy
IF-THEN rules and membership functions . The
reactive power control problem to regulate the voltage of
the wind-diesel hybrid system considered here is studied
under small sudden disturbances in connected load.

cos(i -pq ) (21)

(22)

3.1 Self-Tuning Fuzzy PI Controller

Qj =

-VjVpq
x ij

The proposed Auto tuned Fuzzy logic PI controller is

designed based on the concept of PI controller.
U(s) = KpE(s) + Ki E (s)
(16)

cos( j - pq )

FUZZY
LOGIC
PULSE

Multiplying Vj to the above two equations we can get

E

Pj =

Vi Vj

Qj =

x ij

sin-

Vi Vj
x ij

VjVm2p

cos-

(23)
R

VjVm2q V
x ij
x ij

x ij
2
j

(24)

PI
CONTROLLER

KP

K I

SYSTEM

Fig. 4.Fuzzy PI controller Block

Vm2p=Vj(t) and Vm2q=Vj(t) where (t) and (t) are
control variables.

E*Kp + Ki* E = U

79

(17)

Proc. of the Second Intl. Conf. on Advances in Electronics and Electrical Engineering AEEE 2013
Copyright Institute of Research Engineers and Doctors. All rights reserved.
ISBN: 978-981-07-5939-1 doi:10.3850/ 978-981-07-5939-1_24

voltage( V ),Variation

The system performance can be improved by

Changing the value of parameters Kp and Ki of the PI
controller. The PI parameters (Kp and Ki) are slowly
changed using fuzzy inference engine. This provides a
mapping which is not linear with having inputs as error
and change in error and ouputmKp and Ki. Fig 4 shows
the block having Fuzzy PIController.
Pi = min ((E), (E))
Ii = min ((E), (E))
The rules that are mentioned in the table 1 & 2 are
made taking the voltage variation of system in diesel side
and daviation of wind energy (PGW) in wind side to
improve the system performance. Two input variables,
error (v) and change in error(v) and two output
variables Kp and Ki of the PI controller with seven
linguistic variables of Triangular membership
function is used for the proposed self tuning Fuzzy
logic PI controller. The input membership functions are
error(E) and change in error( E) and output membership
functions are Kp and Ki.

armature voltage under transient( E ' ), etc., as shown in

q

Fig. 5, are studied for the above mentioned disturbance

using traditional PI Controller and the advanced Fuzzy
PI Controller.
In the study, it is observed that the controllers provide
better performance with the increase of size of
synchronous generator in comparison to the size of
Induction generator to achieve good control of terminal
voltage. Also the firing angle change of TCR in UPFC
improves with the decrease in the value wind power
output. But they settle at different points. The settling
time and peak overshoot in the case of STFLPI controller
is observed to be less as comparison to traditional PI
Controller. The (FLC) shows better result by increasing
the diesel power generation. Simulation results clearly
show the output of Fuzzy PI Controller is better than the
traditional PI Controller.
0
QSG

PM
M
M
M
VS
VS
VS
Z

-2

DEL

PS
MB
MB
M
MS
MS
VS
VS

PL
M
MS
MS
VS
VS
Z
Z

-4

Z
VS
MS
MS
M
MB
MB
VB

PS
MS
MS
M
MB
MB
VB
VB

PM
M
M
MB
VB
VB
VL
VL

20

(a)

40
60
Time (sec)

80

100

Change in Reactive power of diesel generator.

0.1

QIG

Z
VB
MB
MB
M
MS
MS
VS

DEL

NS
VB
VB
VB
MB
M
M
VS

Table 2 Fuzzy rule for Ki

E/E
NL
NM
NS
NL
Z
Z
VS
NM
Z
Z
VS
NS
Z
VS
MS
Z
VS
VS
MS
PS
VS
MS
M
PM
M
M
MB
PL
M
M
MB

PID
Fuzzy-PID

PL
M
M
MB
VB
VL
VL
VL

0.05

PID
Fuzzy-PID
0

20

(b)
Change
generator.

40
60
Time (sec)

in

Reactive

power

80

of

100

induction

0.1
PV

NM
VL
VL
VB
VB
MB
MB
MS

DELQ

NL
VL
VL
VB
VB
MB
VB
M

excitation( E fd ),

field

Variation in armature voltage( E q ),and change of

Table 1 Fuzzy rule for Kp

E/E
NL
NM
NS
Z
PS
PM
PL

in

0
-0.1

IV. SIMULATION RESULTS

The complete Simulation was carried away taking the
Fuzzy Logic PI Controller in the wind diesel hybrid
power system in MATLAB/Simulink environment.
Application of STFLPI controller for reactive power and
voltage control of the isolated hybrid system was taken
with a step load change of 2%. The variation of all the
system parameters such as small variation in reactive
power of Synchronous generator( QSG ),Induction

PID
Fuzzy-PID
0

(c)

200

400
600
Time (sec)

800

1000

Change in Reactive power of photovoltaic (PV).

DELQ

UPFC

6
4
2
0

generator( QIG ),UPFC ( QUPFC ), Variation in firing

angle( Q ),Variation
in
terminal

80

PID
Fuzzy-PID
0

20

40
60
Time (sec)

80

100

Proc. of the Second Intl. Conf. on Advances in Electronics and Electrical Engineering AEEE 2013
Copyright Institute of Research Engineers and Doctors. All rights reserved.
ISBN: 978-981-07-5939-1 doi:10.3850/ 978-981-07-5939-1_24

(d)

Change in Reactive power of UPFC.

DEL-V

X d =Change

PID
Fuzzy-PID

20

40
60
Time (sec)

80

100

Generator
QIG =Change

(e)
Change in Terminal voltage of wind-diesel
system.

ALPHA

50

(f)

generated

by

20

40
60
Time (sec)

80

in

reactive

power

generated

by

Eq' =Change in Internal Armature Emf in proportion

with change in direct axis field flux in transient case.
BSVC = Change in Susceptance of the SVC

PID
Fuzzy-PID

power

induction generator.

= Change in the phase angle at SVC output

V = Change in voltage at load.
Qpv =Change in reactive power given by PV

-50

reactive

QL =Change in reactive power generated by load.

QIG = Reactive power generated by Induction

0.5
0

in

Compensator
QL = Reactive power generated by Load

100

QUPFC =Chenge in reactive power of UPFC

Change in Firing angle of thyristor.

Appendix

Fig. 3. Output of Wind Diesel hybrid system using SVC

for 2 % load change during transient condition.

Table 3- Parameters of wind-diesel hybrid system

V. CONCLUSIONS
System Parameter

In this paper, the self tuning Fuzzy PI controller has

been incorporated for automatic Reactive Power control
of an isolated wind-diesel hybrid power system. After
comparing the performances in the proposed paper a
conclusion can be drawn that the response about the
Reactive Power Control in the proposed system with the
application of self tuning FuzzyPI controller has a shorter
settling time. The results obtained by using self
tuning FLPI controller proposed in this paper is
better than the system having
conventional PI
controller with regard to settling time and overshoot .
The proposed controller is effective and provides
noticeable improvement in system performance by
tuning the parameters Kp and Ki of PI controller.
The proposed controller maintains its robustness and
proves its strength under large disturbances.

Wind Capacity (Kilowatt)

Diesel Capacity
Load Capacity
Base Power in KVA
SYNCHRONOUS GENERATOR
PSG,
KW
QSG KW
Eq( pu)
Eq(pu)
V(pu)
Xd,(pu)
Tdo,s
INDUCTION GENERATOR
PIG,pu in Kilowatts
QIG,pu in KVAR
PIN,pu in Kilowatts
r1=r2(pu)
X1=X2(pu)
LOAD
PL(pu) in KW
QL(pu) in KVAR
in Radian

NOMENCLATURE

PIG = Real power generated (Wind Turbine)

PSG = Real power generated (Diesel System)

PL = Real power (load demand)

QSG = Reactive Power generated by Diesel
QSG =Change in reactive power generated by Diesel

Wind Diesel
System
150
150
250
250
0.4
0.2
1.113
0.96
1.0
1.0
5
0.6
0.189
0.75
0.19
0.56
1.0
0.75
2.44

UPFC
T (S)
Td,s

generator
QCOM = Reactive power Generated by Compensator

81

0.05
5.044
0.3

Proc. of the Second Intl. Conf. on Advances in Electronics and Electrical Engineering AEEE 2013
Copyright Institute of Research Engineers and Doctors. All rights reserved.
ISBN: 978-981-07-5939-1 doi:10.3850/ 978-981-07-5939-1_24

Xd

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